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The on-board sensors' view of an automated vehicle (AV) can suffer from occlusions by other traffic participants, buildings, or vegetation, especially in urban areas. However, knowledge of possible other traffic participants in the occluded areas is crucial for an energy and comfort optimizing control of an AV. In such a case, information from infrastructure sensors sent via vehicle to anything (V2X) communication can help the AV. Fur such cases, we have developed and prototypically implementeddoi:10.18725/oparu-43715 fatcat:5qdvtcqjlffyrg7d6fdn3o5l5u